CN114301361B - Control method of electrolytic capacitor-free permanent magnet synchronous motor driving system based on bus current control - Google Patents
Control method of electrolytic capacitor-free permanent magnet synchronous motor driving system based on bus current control Download PDFInfo
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Abstract
The invention discloses a control method of a permanent magnet synchronous motor driving system without electrolytic capacitor based on bus current control, which comprises the following steps: directly calculating a q-axis voltage given value of the motor according to constraint conditions between the bus current command value and motor variables; based on Lyapunov stability theory, carrying out convergence judgment on the motor current under the q-axis given voltage, if the motor current is judged to be non-convergence, obtaining a motor q-axis current command value according to the approximate relation between a bus current command value and the motor q-axis current, and calculating a motor q-axis voltage given value based on a feedback linearization idea; and carrying out coordinate transformation on the given voltage of the d-q axes of the motor and outputting the voltage to the motor through the SVPWM module. The method has the advantages of high motor efficiency, high network side power factor, easy realization of control strategies and strong system robustness, and the network side power factor control effect is little influenced by system parameter errors.
Description
Technical Field
The invention belongs to the field of motor control, and particularly relates to a control technology of a permanent magnet synchronous motor driving system without electrolytic capacitors.
Background
Permanent magnet synchronous motors are widely used in industry and household appliances due to their high efficiency, high power density and other characteristics. However, the dc bus electrolytic capacitor adopted in the conventional ac-dc-ac permanent magnet synchronous motor variable frequency driving system can reduce the system reliability and deteriorate the network side input power factor. In order to meet the input power requirement of the network side, a power factor correction circuit needs to be added. Therefore, researches on replacing a bus electrolytic capacitor with a thin film capacitor and adopting a control strategy to improve the network side input power factor are paid great attention.
The existing control method of the electrolytic capacitor-free permanent magnet synchronous motor driving system realizes control of power and current by adopting a repetitive controller, a proportional resonance controller and the like so as to improve the power factor of a network side, but has the problems of poor control effect, difficult controller parameter setting and lower motor efficiency.
Disclosure of Invention
In order to solve the technical problems, the invention provides a control method of a permanent magnet synchronous motor driving system without electrolytic capacitor based on bus current control, which directly controls bus current based on system convergence analysis, has low system complexity and strong robustness, can realize high power factor at the network side, calculates a motor d-axis current instruction based on a minimum copper loss principle, and effectively improves motor efficiency.
The invention aims at realizing the following technical scheme: a control method of a permanent magnet synchronous motor driving system without electrolytic capacitor based on bus current control comprises the following steps:
firstly, according to the bus current command valueConstraint conditions between the motor variable and the motor q-axis voltage set value +.>
Then the motor q-axis voltage set value is set based on Lyapunov stability theoryCarrying out convergence analysis on the current of the motor; if convergence is determined, the motor q-axis voltage given value +.>If it is judged that the current is not converged, the current is judged to be +/based on the bus current command value>The approximate relation between the motor q-axis current and the motor q-axis current obtains the motor q-axis current command value +.>And obtains the motor based on feedback linearization ideaq-axis voltage set point>
Finally, giving the d-axis voltage of the motorq-axis voltage is given>Performing coordinate transformation to obtain voltage given value +.>And then outputting the voltage to the motor.
Further, the bus current command valueAnd obtaining according to the output value of the speed regulator, the network side voltage phase and the bus capacitance value.
Further, the bus current command valueThe calculation method comprises the following steps:
firstly, the network side voltage waveform is phase-locked to obtain the network side voltage phase angle theta s ；
Then the motor rotating speed command value is differenced with the actual rotating speed, and the current command amplitude is input from the output net side of the speed regulatorCombining net side voltage phase angle theta s Obtaining the instantaneous value of the network side input current command +.>Finally, inputting the instantaneous value of the current command to the network side>Subtracting the instantaneous value i of the capacitive current c Obtaining bus current command value +.>
Further, the d-axis current command valueCalculated based on the principle of minimum copper loss, the d-axis voltage set value +.>Obtained by a current regulator.
Further, the d-axis current command valueAs the q-axis current of the motor of the electrolytic capacitor-free driving system is a periodic sine wave, d-axis current instruction constant value which is obtained based on the minimum copper consumption principle is +.>The calculation method comprises the following steps:
first performing Lagrangian functionWherein:
as an objective function, the copper loss of the system is expressed, wherein i d For motor d-axis current, i qrms The q-axis current effective value of the motor; />As a constraint condition of system torque, L is d ，L q D-q axis inductances of the motors respectively, < >>Is electric powerPermanent magnet flux linkage of machine, i qav The average value of q-axis current of the motor is represented by T, and the average load torque of the motor is represented by T;the constraint condition between the effective value and the average value of the q-axis current of the motor is adopted; lambda (lambda) 1 ，λ 2 Is a Lagrangian multiplier;
then let Lagrangian function F (i d ,i qrms ,i qav ,λ 1 ,λ 2 ) The first partial derivative for each variable is equal to zero, yielding:
finally, the d-axis current i corresponding to the minimum copper loss control can be solved by the five equation sets in the formula (1) d And takes the same as a d-axis command valueThe expression is:
further, the q-axis voltage given value of the motor is obtainedThe method of (1) comprises the following steps:
the modulation ratio function of the inverter under the static three-phase coordinate system is expressed as:
wherein: a is that m For the amplitude value of the modulation ratio of the inverter, theta e Leading the angle value of the phase shaft of the motor a for the motor d-axis;the angle value of the d axis of the motor is advanced for the output phase angle of the inverter;
the motor voltage u under the static three-phase coordinate system a 、u b 、u c By inverter transfer function F d And bus voltage u dc Expressed as:
[u a u b u c ] T ＝F d ·u dc (3)；
using motor current i in a stationary three-phase coordinate system a 、i b 、i c Transfer function with inverter F d Bus current i dc Expressed as:
i dc ＝F d T ·[i a i b i c ] T (4)；
transforming the constant amplitude value of the equation (3) and the equation (4) from a static three-phase coordinate system to a rotating two-phase coordinate system to obtain the motor voltage u under the rotating coordinate system d-q Bus current i dc Modulation ratio vector with inverterThe relation is as follows:
wherein: i m Is the motor current amplitude;leading the angle value of the d axis of the motor for the phase angle of the motor current; />Is a motor current vector; a is that d 、A q Respectively inverter modulation ratio vector->A component in the d-q coordinate system;
then, according to the formula (6), the modulation ratio vector is obtained from the graphIn the motor current vector->The calculation formula of the projection length L is as follows:
modulation ratio vectorThe coordinate values of the intersection points of the vertical line and the d-q axis coordinate system are respectively as follows:
finally, obtaining the modulation ratio vector by the method (5)D-axis component>Obtained from similar triangle relationsObtaining the motor q-axis voltage set value according to the formula (5)>
Further, the motor current convergence judging method comprises the following steps:
firstly, respectively representing the voltage equation of the permanent magnet synchronous motor under a d-q coordinate system as follows:
wherein: r is stator resistance; omega e Is the electrical angular velocity of the motor.
Then giving the calculated motor q-axis voltageBringing a motor voltage equation (9), and simplifying to obtain:
simplifying the relation of the current of the motor d-q axis to obtain a state variable equation of the current of the motor q axis, wherein the state variable equation is as follows:
nonlinear equation stability represented by formula (11) is analyzed based on the lyapunov direct method: order theEqual to zero, two equilibrium points of the system can be found, which are respectively:
when the system is in normal operation, the q-axis current of the motor is positive, and the positive balance point of the system is ensured, namely the system needs to meet +.>Taking positive balance point i q_0 And (3) performing convergence judgment:
for ease of analysis, y=i q -i q_0 Bringing the equation into the state space zero point of the balance point to obtain a transformed equation:
bringing formula (11) into formula (13) to reduce:
construction of a positive-going Lyapunov functionEasy-to-get y > -i q_0 Derivative of Lyapunov functionThe constant value is smaller than zero, so that the stable operation of the system can be ensured;
if the system does not meetAnd y > -i q_0 Under these two convergence conditions, the motor q-axis current command value +_is obtained from the approximate relationship between the motor q-axis current and the bus current>The motor q-axis voltage equation (9) is rewritten as: />According to the feedback linearization idea, let ∈ ->And brings the motor q-axis voltage equation into the motor q-axis voltage equation, so as to simplify +.>Let control rate->Reduced->Wherein a is a positive constant, < >>As a current error, it is known that the error between the current command and the actual current converges to zero over time.
Further, finally, the d-axis voltage of the motor is givenq-axis voltage is given>Performing coordinate transformation to obtain voltage given value +.>And then the SVPWM module outputs the voltage to the motor.
The beneficial effects of the invention are as follows: the invention can be used in all electrolytic capacitor-free permanent magnet synchronous motor driving systems. Compared with the prior art, the method obtains the d-axis current of the motor based on the principle of minimum copper loss, and improves the motor efficiency; the q-axis voltage given value of the motor is directly calculated according to constraint conditions between the bus current command value and the motor variable, the network side high power factor can be realized, the network side power factor control effect is little influenced by system parameter errors, the whole control strategy is easy to realize, and the system robustness is strong.
Drawings
FIG. 1 is a block diagram of a topology of a capacitor-less driving system according to an embodiment of the present invention;
FIG. 2 is a block diagram of inverter modulation ratio vector calculation in accordance with one embodiment of the present invention;
FIG. 3 is a simulated d-q axis current waveform in an embodiment of the invention;
FIG. 4 is a simulated network side input current waveform in an embodiment of the invention.
Detailed Description
The objects and effects of the present invention will become more apparent from the following detailed description of the present invention with reference to the accompanying drawings.
In one embodiment, a control method of a driving system of a permanent magnet synchronous motor without electrolytic capacitor based on bus current control is provided, comprising the following steps:
firstly, according to the bus current command valueConstraint conditions between the motor variable and the motor q-axis voltage set value +.>
Then, based on Lyapunov stability theory, the motor q-axis voltage set value is setCarrying out convergence analysis on the current of the motor; if convergence is judged, motor q-axis voltage given value +.>If it is determined that the current is not converged, the current is determined to be +.>The approximate relation between the motor q-axis current and the motor q-axis current obtains the motor q-axis current command value +.>And based on feedback linearization concept, obtaining motor q-axis voltage given value +.>
Finally, giving the d-axis voltage of the motorq-axis voltage is given>Performing coordinate transformation to obtain voltage given value +.>And then outputting the voltage to the motor.
In one embodiment, the bus current command valueAnd obtaining according to the output value of the speed regulator, the network side voltage phase and the bus capacitance value.
In one embodiment, the bus current command valueThe calculation method comprises the following steps:
firstly, the network side voltage waveform is phase-locked to obtain the network side voltage phase angle theta s ；
Then the motor rotating speed command value is differenced with the actual rotating speed, and the current command amplitude is input from the output net side of the speed regulatorCombining net side voltage phase angle theta s Obtaining the instantaneous value of the network side input current command +.>Finally, inputting the instantaneous value of the current command to the network side>Subtracting the instantaneous value i of the capacitive current c Obtaining bus current command value +.>
In one embodiment, the d-axis current command valueBased on the minimum copper loss principle, d-axis voltage set value +.>Obtained by a current regulator.
Further, d-axis current command valueAs the q-axis current of the motor of the electrolytic capacitor-free driving system is a periodic sine wave, d-axis current instruction constant value which is obtained based on the minimum copper consumption principle is +.>The calculation method comprises the following steps:
first performing Lagrangian functionWherein:
as an objective function, the copper loss of the system is expressed, wherein i d For motor d-axis current, i qrms The q-axis current effective value of the motor; />As a constraint condition of system torque, L is d ，L q D-q axis inductances of the motors respectively, < >>I is the flux linkage of a permanent magnet of the motor qav The average value of q-axis current of the motor is represented by T, and the average load torque of the motor is represented by T;the constraint condition between the effective value and the average value of the q-axis current of the motor is adopted; lambda (lambda) 1 ，λ 2 Is a Lagrangian multiplier;
then let Lagrangian function F (i d ,i qrms ,i qav ,λ 1 ,λ 2 ) The first partial derivative for each variable is equal to zero, yielding:
finally, the d-axis current i corresponding to the minimum copper loss control can be solved by the five equation sets in the formula (1) d And takes the same as a d-axis command valueThe expression is:
in one embodiment, a motor q-axis voltage set point is obtainedThe method of (1) comprises the following steps:
the modulation ratio function of the inverter under the static three-phase coordinate system is expressed as:
wherein: a is that m For the amplitude value of the modulation ratio of the inverter, theta e Leading the angle value of the phase shaft of the motor a for the motor d-axis;the angle value of the d axis of the motor is advanced for the output phase angle of the inverter;
the motor voltage u under the static three-phase coordinate system a 、u b 、u c By inverter transfer function F d And bus voltage u dc Expressed as:
[u a u b u c ] T ＝F d ·u dc (3) The method comprises the steps of carrying out a first treatment on the surface of the Using motor current i in a stationary three-phase coordinate system a 、i b 、i c Transfer function with inverter F d Bus current i dc Expressed as:
i dc ＝F d T ·[i a i b i c ] T (4)；
transforming the constant amplitude value of the equation (3) and the equation (4) from a static three-phase coordinate system to a rotating two-phase coordinate system to obtain the motor voltage u under the rotating coordinate system d-q Bus current i dc Modulation ratio vector with inverterThe relation is as follows:
wherein: i m Is the motor current amplitude;leading the angle value of the d axis of the motor for the phase angle of the motor current; />Is a motor current vector; a is that d 、A q Respectively inverter modulation ratio vector->A component in the d-q coordinate system;
then, according to equation (6), fig. 2 can be obtained, and the modulation ratio vector can be obtained from fig. 2In the motor current vector->The calculation formula of the projection length L is as follows:
modulation ratio vectorThe coordinate values of the intersection points of the vertical line and the d-q axis coordinate system are respectively as follows:
finally, obtaining the modulation ratio vector by the method (5)D-axis component>Obtained from similar triangle relationsObtaining the motor q-axis voltage set value according to the formula (5)>
In one embodiment, the motor current convergence judging method includes the steps of:
firstly, respectively representing the voltage equation of the permanent magnet synchronous motor under a d-q coordinate system as follows:
wherein: r is stator resistance; omega e Is the electrical angular velocity of the motor.
Then giving the calculated motor q-axis voltageBringing a motor voltage equation (9), and simplifying to obtain:
simplifying the relation of the current of the motor d-q axis to obtain a state variable equation of the current of the motor q axis, wherein the state variable equation is as follows:
nonlinear equation stability represented by formula (11) is analyzed based on the lyapunov direct method: order theEqual to zero, two equilibrium points of the system can be found, which are respectively:
when the system is in normal operation, the q-axis current of the motor is positive, and the positive balance point of the system is ensured, namely the system needs to meet +.>Taking positive balance point i q_0 And (3) performing convergence judgment:
for ease of analysis, y=i q -i q_0 Bringing the equation into the state space zero point of the balance point to obtain a transformed equation: will be
Bringing formula (11) into formula (13) to reduce:
construction of a positive-going Lyapunov functionEasy-to-get y > -i q_0 Derivative of Lyapunov functionThe constant value is smaller than zero, so that the stable operation of the system can be ensured;
if the system does not meetAnd y > -i q_0 Under these two convergence conditions, the motor q-axis current command value +_is obtained from the approximate relationship between the motor q-axis current and the bus current>The motor q-axis voltage equation (9) is rewritten as: />According to the feedback linearization idea, let ∈ ->And brings the motor q-axis voltage equation into the motor q-axis voltage equation, so as to simplify +.>Let control rate->Reduced->Wherein a is a normal number，/>As a current error, it is known that the error between the current command and the actual current converges to zero over time.
In one embodiment, the motor d-axis voltage is finally givenq-axis voltage is given>Performing coordinate transformation to obtain voltage given value +.>And then the SVPWM module outputs the voltage to the motor.
When the motor speed regulator works, the motor speed command value is differenced with the actual speed to obtain motor speed errors, and the error value is used for obtaining the net side input current command amplitude value through the motor speed regulatorAmong them, the speed regulator may employ a PI regulator.
Net side input current command amplitudeCombining net side voltage phase angle theta s Obtaining the instantaneous value of the network side input current commandWherein the network side voltage phase angle theta s Can be obtained by adopting a second-order generalized integral phase-locked loop (SOGI-PLL), and the specific calculation formula of the input current instruction amplitude at the network side is +.>
As can be seen from fig. 1, the network side is inputted with a current command instantaneous valueSubtracting the instantaneous value i of the capacitive current c Obtaining bus current command value +.>Wherein the instantaneous value of the capacitive current->C in the formula dc The bus capacitance value; bus current command value
From the formulaObtaining the d-axis current instruction value of the motor>Wherein, the average value i of the q-axis current of the motor qav Averaging from a sliding window filter: />Wherein N is the sampling frequency of one bus voltage period, i q (k) Q-axis current i representing the kth sample q 。
The d-axis voltage given value is obtained by the current regulator after the d-axis current command value of the motor is differenced with the actual currentThe current regulator may be a PI regulator.
From bus current command valueAnd motor current amplitude I m Obtaining modulation ratio vector->In an electric motorCurrent vector->Projection length L on the projection is calculated by +.>
Obtaining modulation ratio vector from sine and cosine function relationThe coordinate values of the intersection points of the vertical line and the d-q axis coordinate system are respectively as follows: />
By the voltage set-point of the motor d-axisObtaining modulation ratio vector->D-axis component>
Obtaining modulation ratio vectors from the similar triangle relations shown in FIG. 2Q-axis component>
Finally by modulation ratio vectorQ-axis component>And bus voltage u dc Obtaining q-axis voltage set value +.>
By passing throughAnd y > -i q_0 The two conditions determine whether the motor current is converging. If the two formulas cannot be satisfied at the same time, the q-axis voltage given value is changed>The specific method comprises the following steps:
obtaining a q-axis current command value from the relationship between the q-axis current of the motor and the bus current
Obtaining the q-axis voltage given value according to the feedback linearization idea
Giving the d-axis voltage of the motorq-axis voltage is given>Performing coordinate transformation to obtain voltage given value +.>And then outputting the given voltage to the motor through the SVPWM module.
The invention can be used in all electrolytic capacitor-free permanent magnet synchronous motor driving systems. Compared with the prior art, the method obtains the d-axis current of the motor based on the principle of minimum copper loss, and improves the motor efficiency; the q-axis voltage given value of the motor is directly calculated according to constraint conditions between the bus current command value and the motor variable, the network side high power factor can be realized, the network side power factor control effect is little influenced by system parameter errors, the whole control strategy is easy to realize, and the system robustness is strong. As shown in fig. 3 and 4, the power factor control effect is that the net side input current is a standard sine wave in the q-axis current convergence region, thereby maximizing the net side power factor.
Claims (5)
1. The control method of the electrolytic capacitor-free permanent magnet synchronous motor driving system based on bus current control is characterized by comprising the following steps of:
firstly, according to the bus current command valueConstraint conditions between the motor variable and the motor q-axis voltage set value +.>
Then the motor q-axis voltage set value is set based on Lyapunov stability theoryCarrying out convergence analysis on the current of the motor; if convergence is determined, the motor q-axis voltage given value +.>If it is judged that the current is not converged, the current is judged to be +/based on the bus current command value>The approximate relation between the motor q-axis current and the motor q-axis current obtains the motor q-axis current command value +.>And based on feedback linearization concept, obtaining motor q-axis voltage given value +.>
Finally, the motor is arrangedd-axis voltage settingq-axis voltage is given>Performing coordinate transformation to obtain voltage given value +.>Outputting the voltage to the motor;
d-axis current command value of motorBased on minimum copper loss principle calculation, motor d-axis voltage given value +.>Obtained from a current regulator; d-axis current command value of motor->As the q-axis current of the motor of the electrolytic capacitor-free driving system is a periodic sine wave, the d-axis current instruction constant value of the motor is obtained based on the principle of minimum copper loss>The calculation method comprises the following steps:
first performing Lagrangian functionWherein:
as an objective function, the copper loss of the system is expressed, wherein i d For motor d-axis current, i qrms The q-axis current effective value of the motor; />As a constraint condition of system torque, L is d ，L q D-q axis inductances of the motors respectively, < >>I is the flux linkage of a permanent magnet of the motor qav The average value of q-axis current of the motor is represented by T, and the average load torque of the motor is represented by T;the constraint condition between the effective value and the average value of the q-axis current of the motor is adopted; lambda (lambda) 1 ，λ 2 Is a Lagrangian multiplier;
then let Lagrangian function F (i d ,i qrms ,i qav ,λ 1 ,λ 2 ) The first partial derivative for each variable is equal to zero, yielding:
finally, solving the d-axis current i corresponding to the minimum copper loss control by five equation sets in the formula (1) d And takes the same as a d-axis command valueThe expression is:
obtaining the given value of the q-axis voltage of the motorThe method of (1) comprises the following steps:
firstly, the transfer function F of the inverter under a static three-phase coordinate system d Expressed as:
wherein: a is that m For the amplitude value of the modulation ratio of the inverter, theta e Leading the angle value of the phase shaft of the motor a for the motor d-axis;the angle value of the d axis of the motor is advanced for the output phase angle of the inverter;
the motor voltage u under the static three-phase coordinate system a 、u b 、u c By inverter transfer function F d And bus voltage u dc Expressed as:
[u a u b u c ] T ＝F d ·u dc (3)；
using motor current i in a stationary three-phase coordinate system a 、i b 、i c Transfer function with inverter F d Bus current i dc Expressed as:
i dc ＝F d T ·[i a i b i c ] T (4)；
transforming the constant amplitude value of the equation (3) and the equation (4) from a static three-phase coordinate system to a rotating two-phase coordinate system to obtain the motor voltage u under the rotating coordinate system d 、u q Bus current i dc Modulation ratio vector with inverterThe relation is as follows:
wherein: i m The current vector amplitude value of the motor;leading the angle value of the d axis of the motor for the phase angle of the motor current; />Is a motor current vector; a is that d 、A q Respectively inverter modulation ratio vector->A component in the d-q coordinate system;
then, the modulation ratio vector is plotted according to the formula (6)In the motor current vector->The calculation formula of the projection length L is as follows:
modulation ratio vectorThe coordinate values of the intersection points of the vertical line and the d-q axis coordinate system are respectively as follows:
finally, obtaining the modulation ratio vector by the method (5)D-axis component>Obtained from similar triangle relationsObtaining the motor q-axis voltage set value according to the formula (5)>
2. The control method of the electrolytic capacitor-less permanent magnet synchronous motor driving system based on bus current control according to claim 1, wherein the bus current command value is as followsAnd obtaining according to the output value of the speed regulator, the network side voltage phase and the bus capacitance value.
3. The control method of the electrolytic capacitor-less permanent magnet synchronous motor driving system based on bus current control according to claim 2, wherein the bus current command value is as followsThe calculation method comprises the following steps: firstly, the network side voltage waveform is phase-locked to obtain the network side voltage phase angle theta s ；
Then the motor rotating speed command value is differenced with the actual rotating speed, and the current command amplitude is input from the output net side of the speed regulatorCombining net side voltage phase angle theta s Obtaining the instantaneous value of the network side input current command +.>
Finally, inputting current command instantaneous value to network sideSubtracting the instantaneous value i of the capacitive current c Obtaining bus current command value +.>
4. The control method of the electrolytic capacitor-less permanent magnet synchronous motor driving system based on bus current control according to claim 1, wherein the motor current convergence judging method comprises the steps of: firstly, respectively representing the voltage equation of the permanent magnet synchronous motor under a d-q coordinate system as follows:
wherein: r is stator resistance; omega e Is the electrical angular velocity of the motor;
then giving the calculated motor q-axis voltageBringing a motor voltage equation (9), and simplifying to obtain:
simplifying the relation of the current of the motor d-q axis to obtain a state variable equation of the current of the motor q axis, wherein the state variable equation is as follows:
nonlinear equation stability represented by formula (11) is analyzed based on the lyapunov direct method: order theEqual to zero, two balance points exist in the system, and the two balance points are respectively:
when the system is in normal operation, the q-axis current of the motor is positive, and the positive balance point of the system is ensured, namely the system needs to meet +.>Taking positive balance point i q_0 And (3) performing convergence judgment:
for ease of analysis, y=i q -i q_0 Bringing the equation into the state space zero point of the balance point to obtain a transformed equation:
combining the formula (11) with the formula (13) to simplify the process:
construction of a positive-going Lyapunov functionEasy-to-get y > -i q_0 Derivative of Lyapunov function +.>The constant value is smaller than zero, so that the stable operation of the system can be ensured;
if the system does not meetAnd y > -i q_0 Under these two convergence conditions, the motor q-axis current command value +_is obtained from the approximate relationship between the motor q-axis current and the bus current>The motor q-axis voltage equation (9) is rewritten as: />According to the feedback linearization idea, let ∈ ->And brings the motor q-axis voltage equation into the motor q-axis voltage equation, so as to simplify +.>Let control rate->Reduced->Wherein a is a positive constant, < >>As a current error, the error between the current command and the actual current converges to zero over time.
5. The control method of a permanent magnet synchronous motor driving system without electrolytic capacitor based on bus current control according to claim 1, wherein finally, the d-axis voltage of the motor is givenq-axis voltage is given>Performing coordinate transformation to obtain voltage given value +.>And then the SVPWM module outputs the voltage to the motor.
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